Prediction Control

Includes:
Minimum Prediction Error

Prediction with knowing model

Prediction with unknown model (Indirect STR & direct STR)

Receding Horizon Control

Constant control signal

Minimum control effort

m2takami@yahoo.com

.
t

)prediction error

(minimum

receding horizon .

.
:
-

-
-

- .
.

:
)(

t+d

) A( q 1 ) y(t ) = q d B( q 1 )u (t

)(
)(
)(

[Goodwin] 4-2-1

) y(t + d ) = ( q 1 ) y(t ) + ( q 1 )u (t

) ; ( q 1 ) = F ( q 1 ) B( q 1

) (q 1 ) = G (q 1

F G :
) I = F ( q 1 ) A( q 1 ) + q d G( q 1

)step ahead control

(one

) (weighted one step ahead control

Goodwin .

STR
.

-
:
s +1
2
s s

)(

= )G(s

0.5 :
0.7974 z - 0.4731
= )G (z
d
2
z - 2.649 z + 1.649

)(
) (:

)(

) = 5.3682 4.3682z

; G(z

) = 1 + 2.649z

) (

*
)y (t + 2

)(

F(z

)y(t + 2

*
])u(t) = 1.2547[y (t + 2) - 5.3682y(t) + 4.3682y(t - 1) - 1.6382u(t - 1) + 1.2532u(t - 2

-
:
s 1

)(

= )G(s

)(s + 0.1)(s + s + 1

0.5 :
)(
) (:
)(

+ 1.3644z

0.08459 z 2 - 0.07954 z - 0.09902

z 3 - 2.365 z 2 + 1.951 z - 0.5769

) = 3.6422 4.0372z

; G(z

-1

= )G ( z

) = 1 + 2.365z

F(z

:
)(

)u(t) = 11.8217[y * (t + 2) - 3.6422y(t) + 4.0372y(t - 1) - 1.3644y(t - 2])0.1205u(t - 1) + 0.2871u(t - 2) + 0.2342u(k - 3

) ( .

) u (t
) A( q 1
) .
=

) y * (t ) B(q 1

B (.

:( (

J2
) ( .

u .

* u/y
> 0.856 .

*u/y

> 0.856
u

*y/y

! )(

> 0.8735

NMP

( =1( =5

) P ( z 1
J2
) R( z 1
)(1-z-1

*y/y

)R(z-1

) (

*y/y

. P

) .

( .

)(1-0.9z-1

) (1-z-1 )
!(.

*y/y

) STR(

) STR( .

.
-

STR

STR .

RLS

)2.2( z 0.7

z + 0.04

. u PE

)
( .

- .

STR

. y ( t + d ) = ( t ) T 0

= y(t + d ) y (t + d ) = y(t + d ) (t )T 0

d = y(t ) y (t ) = y(t ) (t d )T 0 .
) y(t + d ) y * (t + d

. .

-
) .(

: .

- STR

. .

u
.

: .

 10

J2

)y*(t+d

)y(t+d

. .

) .(

). (

,- , ,

,-

,-

,- , ,

,-

,-

: u

 11

Receding Horizon Control

!
:
-

) (d ) (d0 .
q 1
) u (t
1 + q 1

= ) y(t

d=2 d=3
.

d=2

; G (q) = 2

F (q) = q

;; R ( q ) = 0

R( q ) = q

) ym (t + 1) 2 y(t
1

= ) u (t

P ( q ) = (1 )q +

>0.5 .
=0.1 .

) ym(t+1.

 12

: =0.1

d=3

; G ( q) = 3

F (q) = q 2 q + 2

;; R (q ) = 0

R( q ) = q 2 q + 2

) ym (t + 1) + 3 y(t
1 + 2

= ) u (t

P ( q ) = (1 + 2 )q + 2

.
=5 .

: =5

 13
=0.1

. .

F G R

d=2

R-

- .
1+2
=;

) ym (t + 2) 2 y(t
= ) u (t

. :
2

=)

1+2

P ( q ) = q + ( +

.
.
q2
2
)

) y(t

=

ym (t ) 1 + + 2

(q + +

) y(t
=
) ym (t

=0.1 .

: =0.1

 14

d=3

F G R

R-

- .
) ym (t + 3) + 3 y(t
= ) u (t
1
+1+2
2

. :

5
)
1+2 + 4
.

P (q) = q + (a

) y(t
2
=

ym (t ) 1 + + 2 + 3 + 4

=5 .

: =5

- :
u

u .

m2takami@yahoo.com